KR20180024600A - Robot cleaner and a system inlduing the same - Google Patents

Abstract

A robot cleaner according to one embodiment of the present invention includes: a camera; a display portion for displaying an image of a cleaning area viewed by the camera; and a control unit for detecting a cleaning result of the robot cleaner, generating an augmented reality image for the cleaning result based on the cleaning result, and displaying the augmented reality image while overlapping the augmented reality image on the image for the cleaning area.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot cleaner and a robot cleaner,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot cleaner and a robot cleaner. More particularly, the present invention relates to a robot cleaner and a robot cleaner that display a cleaning result of a robot cleaner as an augmented reality image.

The functions of mobile terminals are becoming more and more diverse. In accordance with this trend, recently, a mobile terminal can display an image by applying an augmented reality. Augmented Reality (AR) is a technology that superimposes a virtual image on a realistic image or background and displays it as a single image.

The mobile terminal can superimpose and display a virtual image related to an actual image on an actual image displayed by the mounted camera. Accordingly, the mobile terminal provides a new and interesting user experience (UX) to the user, and the user can easily acquire information related to the actual image.

On the other hand, there are various types of electronic devices that increase user's convenience in the space where the user lives. The robot cleaner, which is one of the household appliances, carries out the cleaning while traveling the indoor space by itself.

Generally, when the robot cleaner completes the cleaning operation according to the cleaning travel route, the robot cleaner informs the user of the cleaning completion area and the cleaning incomplete area. However, the robot cleaner at present does not inform the cleaned area of the state of the area before cleaning. As a result, the user can not know to what extent the cleaned area is contaminated before cleaning is performed. Furthermore, there is a problem that the user can not exactly know how much cleaning has been performed by the robot cleaner.

According to the embodiment of the present invention, the robot cleaner displays the augmented reality image of the cleaning result, thereby allowing the user to easily know to what extent the cleaning area is contaminated before cleaning.

In addition, according to the embodiment of the present invention, it is possible to precisely grasp whether the user has performed cleaning by the robot cleaner to some extent.

Further, according to an embodiment of the present invention, it is an object of the present invention to allow the user to intuitively check the degree of contamination and the cleaning result of a corresponding area in each cleaning area.

According to another aspect of the present invention, there is provided a robot cleaner including: a display unit for displaying an image of a cleaning area viewed by a camera; And a control unit for detecting a cleaning result of the robot cleaner and generating an augmented reality image for the cleaning result based on the cleaning result and superimposing the augmented reality image on the image for the cleaning area. According to this, the user can easily confirm the cleaning result performed by the robot cleaner based on the augmented reality image of the cleaning result.

Here, the control unit may display at least one of the size and color of the virtual dust in accordance with the amount of dust sucked by the robot cleaner. According to this, the user can intuitively grasp the contamination degree of the cleaning area based on the size and color of the virtual dust.

According to another aspect of the present invention, there is provided an augmented reality system, including a display unit for displaying an image of a cleaning area displayed by a camera, a controller for detecting a cleaning result of the robot cleaner, And a control unit for generating an augmented reality image for the cleaning result based on the generated augmented reality image and superimposing the augmented reality image on the image for the cleaning area. And a mobile terminal for receiving a cleaning map created by the robot cleaner and an augmented reality image for the cleaning result from the robot cleaner, and displaying the overlay on the screen.

According to still another aspect of the present invention, there is provided a computer-readable recording medium having recorded thereon a computer readable program for performing a method of operating a robot cleaner, Displaying an image of a cleaning area which is illuminated by the cleaning area; And detecting a cleaning result of the robot cleaner; Generating an augmented reality image for the cleaning result based on the cleaning result; And displaying the generated augmented reality image on the image for the cleaning area in a superimposed manner.

According to the embodiment of the present invention, the user can easily know to what extent the cleaned area is contaminated before cleaning, based on the augmented reality image of the cleaning result.

In addition, according to the embodiment of the present invention, the user can accurately grasp to what extent cleaning has been performed by the robot cleaner.

Further, according to the embodiment of the present invention, the user can intuitively check the degree of contamination and the cleaning result of the corresponding area in each cleaning area.

1 is a block diagram illustrating a mobile terminal according to the present invention.
2 is a perspective view illustrating an example of a glass-type mobile terminal according to another embodiment of the present invention.
3 is a diagram for explaining a configuration of an augmented reality system according to an embodiment of the present invention.
4A to 4C are views for explaining a configuration of a robot cleaner according to an embodiment of the present invention.
5 is a block diagram illustrating a configuration of a robot cleaner according to an embodiment of the present invention.
6 is a view for explaining the operation of the dust sensor included in the robot cleaner according to the embodiment of the present invention.
7 is a flowchart illustrating an operation of the robot cleaner according to an embodiment of the present invention.
8A to 8C are views for explaining an example of displaying a cleaning result as an augmented reality image by a robot cleaner according to an embodiment of the present invention.
9A to 9C are views for explaining another example in which a robot cleaner according to an embodiment of the present invention displays a cleaning result as an augmented reality image.
10 is a flowchart illustrating an operation of the mobile terminal according to an embodiment of the present invention.
11A and 11B are views for explaining a case where a mobile terminal executes an augmented reality mode according to an embodiment of the present invention.
12A to 12C are views for explaining an example in which a mobile terminal displays a cleaning result as an augmented reality image according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

The mobile terminal described in this specification includes a mobile phone, a smart phone, a laptop computer, a digital broadcasting terminal, a personal digital assistant (PDA), a portable multimedia player (PMP), a navigation device, a slate PC A tablet PC, an ultrabook, a wearable device such as a smartwatch, a smart glass, and a head mounted display (HMD). have.

However, it will be appreciated by those skilled in the art that the configuration according to the embodiments described herein may be applied to fixed terminals such as a digital TV, a desktop computer, a digital signage, and the like, will be.

1 is a block diagram illustrating a mobile terminal according to the present invention.

The mobile terminal 100 includes a wireless communication unit 110, an input unit 120, a sensing unit 140, an output unit 150, an interface unit 160, a memory 170, a control unit 180, ), And the like.

The components shown in FIG. 1 are not essential for implementing a mobile terminal, so that the mobile terminal described herein may have more or fewer components than the components listed above.

The wireless communication unit 110 may be connected between the mobile terminal 100 and the wireless communication system or between the mobile terminal 100 and another mobile terminal 100 or between the mobile terminal 100 and the external server 100. [ Lt; RTI ID = 0.0 > wireless < / RTI > In addition, the wireless communication unit 110 may include one or more modules for connecting the mobile terminal 100 to one or more networks.

The wireless communication unit 110 may include at least one of a broadcast receiving module 111, a mobile communication module 112, a wireless Internet module 113, a short distance communication module 114, and a location information module 115 .

The input unit 120 includes a camera 121 or an image input unit for inputting a video signal, a microphone 122 for inputting an audio signal, an audio input unit, a user input unit 123 for receiving information from a user A touch key, a mechanical key, and the like). The voice data or image data collected by the input unit 120 may be analyzed and processed by a user's control command.

The sensing unit 140 may include at least one sensor for sensing at least one of information in the mobile terminal, surrounding environment information surrounding the mobile terminal, and user information.

For example, the sensing unit 140 may include a proximity sensor 141, an illumination sensor 142, a touch sensor, an acceleration sensor, a magnetic sensor, A G-sensor, a gyroscope sensor, a motion sensor, an RGB sensor, an infrared sensor, a finger scan sensor, an ultrasonic sensor, A microphone 226, a battery gauge, an environmental sensor (for example, a barometer, a hygrometer, a thermometer, a radiation detection sensor, A thermal sensor, a gas sensor, etc.), a chemical sensor (e.g., an electronic nose, a healthcare sensor, a biometric sensor, etc.). Meanwhile, the mobile terminal disclosed in the present specification can combine and utilize information sensed by at least two of the sensors.

The output unit 150 includes at least one of a display unit 151, an acoustic output unit 152, a haptic tip module 153, and a light output unit 154 to generate an output related to visual, auditory, can do. The display unit 151 may have a mutual layer structure with the touch sensor or may be integrally formed to realize a touch screen. The touch screen may function as a user input unit 123 that provides an input interface between the mobile terminal 100 and a user and may provide an output interface between the mobile terminal 100 and a user.

The interface unit 160 serves as a path to various types of external devices connected to the mobile terminal 100. The interface unit 160 is connected to a device having a wired / wireless headset port, an external charger port, a wired / wireless data port, a memory card port, And may include at least one of a port, an audio I / O port, a video I / O port, and an earphone port. In the mobile terminal 100, corresponding to the connection of the external device to the interface unit 160, it is possible to perform appropriate control related to the connected external device.

In addition, the memory 170 stores data supporting various functions of the mobile terminal 100. The memory 170 may store a plurality of application programs or applications running on the mobile terminal 100, data for operation of the mobile terminal 100, and commands. At least some of these applications may be downloaded from an external server via wireless communication. Also, at least a part of these application programs may exist on the mobile terminal 100 from the time of shipment for the basic functions (e.g., telephone call receiving function, message receiving function, and calling function) of the mobile terminal 100. Meanwhile, the application program may be stored in the memory 170, installed on the mobile terminal 100, and may be operated by the control unit 180 to perform the operation (or function) of the mobile terminal.

In addition to the operations related to the application program, the control unit 180 typically controls the overall operation of the mobile terminal 100. The control unit 180 may process or process signals, data, information, and the like input or output through the above-mentioned components, or may drive an application program stored in the memory 170 to provide or process appropriate information or functions to the user.

In addition, the controller 180 may control at least some of the components illustrated in FIG. 1 in order to drive an application program stored in the memory 170. FIG. In addition, the controller 180 may operate at least two of the components included in the mobile terminal 100 in combination with each other for driving the application program.

The power supply unit 190 receives external power and internal power under the control of the controller 180 and supplies power to the components included in the mobile terminal 100. The power supply unit 190 includes a battery, which may be an internal battery or a replaceable battery.

Hereinafter, the components listed above will be described in more detail with reference to FIG. 1 before explaining various embodiments implemented through the mobile terminal 100 as described above.

First, referring to the wireless communication unit 110, the broadcast receiving module 111 of the wireless communication unit 110 receives broadcast signals and / or broadcast-related information from an external broadcast management server through a broadcast channel. The broadcast channel may include a satellite channel and a terrestrial channel. Two or more broadcast receiving modules may be provided to the mobile terminal 100 for simultaneous broadcast reception or broadcast channel switching for at least two broadcast channels.

The broadcast management server may refer to a server for generating and transmitting broadcast signals and / or broadcast related information, or a server for receiving broadcast signals and / or broadcast related information generated by the broadcast management server and transmitting the generated broadcast signals and / or broadcast related information. The broadcast signal may include a TV broadcast signal, a radio broadcast signal, a data broadcast signal, and a broadcast signal in which a data broadcast signal is combined with a TV broadcast signal or a radio broadcast signal.

The broadcasting signal may be encoded according to at least one of technical standards for transmitting and receiving a digital broadcasting signal (or a broadcasting system, for example, ISO, IEC, DVB, ATSC, etc.) It is possible to receive the digital broadcasting signal using a method conforming to the technical standard defined by the technical standards.

The broadcast-related information may be information related to a broadcast channel, a broadcast program, or a broadcast service provider. The broadcast-related information may also be provided through a mobile communication network. In this case, it may be received by the mobile communication module 112.

The broadcast-related information may exist in various forms, for example, an Electronic Program Guide (EPG) of Digital Multimedia Broadcasting (DMB) or an Electronic Service Guide (ESG) of Digital Video Broadcast-Handheld (DVB-H). The broadcast signal and / or broadcast related information received through the broadcast receiving module 111 may be stored in the memory 160.

The mobile communication module 112 may be a mobile communication module or a mobile communication module such as a mobile communication module or a mobile communication module that uses technology standards or a communication method (e.g., Global System for Mobile communication (GSM), Code Division Multi Access (CDMA), Code Division Multi Access 2000 (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), Wideband CDMA (WCDMA), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution And an external terminal, or a server on a mobile communication network established according to a long term evolution (AR), a long term evolution (AR), or the like.

The wireless signal may include various types of data depending on a voice call signal, a video call signal or a text / multimedia message transmission / reception.

The wireless Internet module 113 is a module for wireless Internet access, and may be built in or externally attached to the mobile terminal 100. The wireless Internet module 113 is configured to transmit and receive a wireless signal in a communication network according to wireless Internet technologies.

Wireless Internet technologies include, for example, wireless LAN (WLAN), wireless fidelity (Wi-Fi), wireless fidelity (Wi-Fi) Direct, DLNA (Digital Living Network Alliance), WiBro Interoperability for Microwave Access, High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE) and Long Term Evolution-Advanced (LTE-A) 113 transmit and receive data according to at least one wireless Internet technology, including Internet technologies not listed above.

The wireless Internet module 113 for performing a wireless Internet connection through the mobile communication network can be used for wireless Internet access by WiBro, HSDPA, HSUPA, GSM, CDMA, WCDMA, LTE or LTE- May be understood as a kind of the mobile communication module 112.

The short-range communication module 114 is for short-range communication, and includes Bluetooth ™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB) (Near Field Communication), Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technology. The short-range communication module 114 is connected to the mobile terminal 100 and the wireless communication system through the wireless area networks, between the mobile terminal 100 and another mobile terminal 100, or between the mobile terminal 100 ) And the other mobile terminal 100 (or the external server). The short-range wireless communication network may be a short-range wireless personal area network.

Here, the other mobile terminal 100 may be a wearable device (e.g., a smartwatch, a smart glass, etc.) capable of interchanging data with the mobile terminal 100 according to the present invention (smart glass), HMD (head mounted display)). The short range communication module 114 may detect (or recognize) a wearable device capable of communicating with the mobile terminal 100 around the mobile terminal 100. [ If the detected wearable device is a device authenticated to communicate with the mobile terminal 100 according to the present invention, the control unit 180 may transmit at least a part of the data processed by the mobile terminal 100 to the short- 114 to the wearable device. Therefore, the user of the wearable device can use the data processed by the mobile terminal 100 through the wearable device. For example, according to this, when a telephone is received in the mobile terminal 100, the user performs a telephone conversation via the wearable device, or when a message is received in the mobile terminal 100, It is possible to check the message.

The position information module 115 is a module for obtaining the position (or current position) of the mobile terminal, and a representative example thereof is a Global Positioning System (GPS) module or a Wireless Fidelity (WiFi) module. For example, when the mobile terminal utilizes the GPS module, it can acquire the position of the mobile terminal by using a signal transmitted from the GPS satellite.

As another example, when the mobile terminal utilizes the Wi-Fi module, it can acquire the position of the mobile terminal based on information of a wireless access point (AP) that transmits or receives the wireless signal with the Wi-Fi module. Optionally, the location information module 115 may perform any of the other functions of the wireless communication unit 110 to obtain data relating to the location of the mobile terminal, in addition or alternatively. The location information module 115 is a module used to obtain the location (or current location) of the mobile terminal, and is not limited to a module that directly calculates or obtains the location of the mobile terminal.

Next, the input unit 120 is for inputting image information (or signal), audio information (or signal), data, or information input from a user. For inputting image information, Or a plurality of cameras 121 may be provided. The camera 121 processes an image frame such as a still image or moving image obtained by the image sensor in the video communication mode or the photographing mode. The processed image frame may be displayed on the display unit 151 or stored in the memory 170. [ A plurality of cameras 121 provided in the mobile terminal 100 may be arranged to have a matrix structure and various angles or foci may be provided to the mobile terminal 100 through the camera 121 having the matrix structure A plurality of pieces of image information can be input. In addition, the plurality of cameras 121 may be arranged in a stereo structure to acquire a left image and a right image for realizing a stereoscopic image.

The microphone 122 processes the external acoustic signal into electrical voice data. The processed voice data can be utilized variously according to a function (or a running application program) being executed in the mobile terminal 100. Meanwhile, the microphone 122 may be implemented with various noise reduction algorithms for eliminating noise generated in receiving an external sound signal.

The user input unit 123 is for receiving information from a user and when the information is inputted through the user input unit 123, the control unit 180 can control the operation of the mobile terminal 100 to correspond to the input information . The user input unit 123 may include a mechanical input unit (or a mechanical key such as a button located on the front or rear side or side of the mobile terminal 100, a dome switch, Wheel, jog switch, etc.) and touch-type input means. For example, the touch-type input means may comprise a virtual key, a soft key or a visual key displayed on the touch screen through software processing, And a touch key disposed on the touch panel. Meanwhile, the virtual key or the visual key can be displayed on a touch screen having various forms, for example, a graphic, a text, an icon, a video, As shown in FIG.

Meanwhile, the sensing unit 140 senses at least one of information in the mobile terminal, surrounding environment information surrounding the mobile terminal, and user information, and generates a corresponding sensing signal. The control unit 180 may control the driving or operation of the mobile terminal 100 or may perform data processing, function or operation related to the application program installed in the mobile terminal 100 based on the sensing signal. Representative sensors among various sensors that may be included in the sensing unit 140 will be described in more detail.

First, the proximity sensor 141 refers to a sensor that detects the presence of an object approaching a predetermined detection surface, or the presence of an object in the vicinity of the detection surface, without mechanical contact by using electromagnetic force or infrared rays. The proximity sensor 141 may be disposed in the inner area of the mobile terminal or in proximity to the touch screen, which is covered by the touch screen.

Examples of the proximity sensor 141 include a transmission type photoelectric sensor, a direct reflection type photoelectric sensor, a mirror reflection type photoelectric sensor, a high frequency oscillation type proximity sensor, a capacitive proximity sensor, a magnetic proximity sensor, and an infrared proximity sensor. In the case where the touch screen is electrostatic, the proximity sensor 141 can be configured to detect the proximity of the object with a change of the electric field along the proximity of the object having conductivity. In this case, the touch screen (or touch sensor) itself may be classified as a proximity sensor.

On the other hand, for convenience of explanation, the act of recognizing that the object is located on the touch screen in proximity with no object touching the touch screen is referred to as "proximity touch & The act of actually touching an object on the screen is called a "contact touch. &Quot; The position at which the object is closely touched on the touch screen means a position where the object corresponds to the touch screen vertically when the object is touched. The proximity sensor 141 can detect a proximity touch and a proximity touch pattern (e.g., a proximity touch distance, a proximity touch direction, a proximity touch speed, a proximity touch time, a proximity touch position, have.

Meanwhile, the control unit 180 processes data (or information) corresponding to the proximity touch operation and the proximity touch pattern sensed through the proximity sensor 141 as described above, and further provides visual information corresponding to the processed data It can be output on the touch screen. Furthermore, the control unit 180 can control the mobile terminal 100 such that different operations or data (or information) are processed according to whether the touch to the same point on the touch screen is a proximity touch or a touch touch .

The touch sensor uses a touch (or touch input) applied to the touch screen (or the display unit 151) by using at least one of various touch methods such as a resistance film type, a capacitive type, an infrared type, an ultrasonic type, Detection.

For example, the touch sensor may be configured to convert a change in a pressure applied to a specific portion of the touch screen or a capacitance generated in a specific portion to an electrical input signal. The touch sensor may be configured to detect a position, an area, a pressure at the time of touch, a capacitance at the time of touch, and the like where a touch object touching the touch screen is touched on the touch sensor. Here, the touch object may be a finger, a touch pen, a stylus pen, a pointer, or the like as an object to which a touch is applied to the touch sensor.

Thus, when there is a touch input to the touch sensor, the corresponding signal (s) is sent to the touch controller. The touch controller processes the signal (s) and transmits the corresponding data to the controller 180. Thus, the control unit 180 can know which area of the display unit 151 is touched or the like. Here, the touch controller may be a separate component from the control unit 180, and may be the control unit 180 itself.

On the other hand, the control unit 180 may perform different controls or perform the same control according to the type of the touch object touching the touch screen (or a touch key provided on the touch screen). Whether to perform different controls or to perform the same control according to the type of the touch object may be determined according to the current state of the mobile terminal 100 or an application program being executed.

On the other hand, the touch sensors and the proximity sensors discussed above can be used independently or in combination to provide a short touch (touch), a long touch, a multi touch, a drag touch ), Flick touch, pinch-in touch, pinch-out touch, swipe touch, hovering touch, and the like. Touch can be sensed.

The ultrasonic sensor can recognize the position information of the object to be sensed by using ultrasonic waves. Meanwhile, the controller 180 can calculate the position of the wave generating source through the information sensed by the optical sensor and the plurality of ultrasonic sensors. The position of the wave source can be calculated using the fact that the light is much faster than the ultrasonic wave, that is, the time when the light reaches the optical sensor is much faster than the time the ultrasonic wave reaches the ultrasonic sensor. More specifically, the position of the wave generating source can be calculated using the time difference with the time when the ultrasonic wave reaches the reference signal.

The camera 121 includes at least one of a camera sensor (for example, a CCD, a CMOS, etc.), a photo sensor (or an image sensor), and a laser sensor.

The camera 121 and the laser sensor may be combined with each other to sense a touch of the sensing object with respect to the three-dimensional stereoscopic image. The photosensor can be laminated to the display element, which is adapted to scan the movement of the object to be detected proximate to the touch screen. More specifically, the photosensor mounts photo diodes and TRs (Transistors) in a row / column and scans the contents loaded on the photosensor using an electrical signal that varies according to the amount of light applied to the photo diode. That is, the photo sensor performs coordinate calculation of the object to be sensed according to the amount of change of light, and position information of the object to be sensed can be obtained through the calculation.

The display unit 151 displays (outputs) information processed by the mobile terminal 100. For example, the display unit 151 may display execution screen information of an application program driven by the mobile terminal 100 or UI (User Interface) and GUI (Graphic User Interface) information according to the execution screen information .

In addition, the display unit 151 may be configured as a stereoscopic display unit for displaying a stereoscopic image. In the stereoscopic display unit, a three-dimensional display system such as a stereoscopic system (glasses system), an autostereoscopic system (no-glasses system), and a projection system (holographic system) can be applied.

Generally, 3D stereoscopic images consist of left image (left eye image) and right image (right eye image). A top-down method of arranging a left image and a right image in one frame according to a method in which a left image and a right image are combined into a three-dimensional stereoscopic image, A checker board system in which pieces of a left image and a right image are arranged in a tile form, a left-to-right (right-side) Or an interlaced method in which rows are alternately arranged, and a time sequential (frame-by-frame) method in which right and left images are alternately displayed in time.

In addition, the 3D thumbnail image may generate a left image thumbnail and a right image thumbnail from the left image and right image of the original image frame, respectively, and may be generated as one image as they are combined. In general, a thumbnail means a reduced image or a reduced still image. The left image thumbnail and the right image thumbnail generated in this way are displayed on the screen with a difference of the left and right distance by the depth corresponding to the parallax between the left image and the right image, thereby exhibiting a stereoscopic spatial feeling.

The left and right images necessary for realizing the three-dimensional stereoscopic image can be displayed on the stereoscopic display unit by the stereoscopic processing unit. The stereoscopic processing unit receives a 3D image (an image at a reference time point and an image at an expansion point), sets a left image and a right image therefrom, or receives a 2D image and converts it into a left image and a right image.

The sound output unit 152 may output audio data received from the wireless communication unit 110 or stored in the memory 170 in a call signal reception mode, a call mode or a recording mode, a voice recognition mode, a broadcast reception mode, The sound output unit 152 also outputs sound signals related to functions (e.g., call signal reception sound, message reception sound, etc.) performed in the mobile terminal 100. [ The audio output unit 152 may include a receiver, a speaker, a buzzer, and the like.

The haptic module 153 generates various tactile effects that the user can feel. A typical example of the haptic effect generated by the haptic module 153 may be vibration. The intensity and pattern of the vibration generated in the haptic module 153 can be controlled by the user's selection or the setting of the control unit. For example, the haptic module 153 may synthesize and output different vibrations or sequentially output the vibrations.

In addition to vibration, the haptic module 153 may be configured to perform various functions such as a pin arrangement vertically moving with respect to the contact skin surface, a spraying force or suction force of the air through the injection port or the suction port, a touch on the skin surface, And various tactile effects such as an effect of reproducing a cold sensation using an endothermic or exothermic element can be generated.

The haptic module 153 can transmit the tactile effect through the direct contact, and the tactile effect can be felt by the user through the muscles of the finger or arm. The haptic module 153 may include two or more haptic modules 153 according to the configuration of the mobile terminal 100.

The light output unit 154 outputs a signal for notifying the occurrence of an event using the light of the light source of the mobile terminal 100. Examples of events that occur in the mobile terminal 100 may include message reception, call signal reception, missed call, alarm, schedule notification, email reception, information reception through an application, and the like.

The signal output from the light output unit 154 is implemented as the mobile terminal emits light of a single color or a plurality of colors to the front or rear surface. The signal output may be terminated by the mobile terminal detecting the event confirmation of the user.

The interface unit 160 serves as a path for communication with all external devices connected to the mobile terminal 100. The interface unit 160 receives data from an external device or supplies power to each component in the mobile terminal 100 or transmits data in the mobile terminal 100 to an external device. For example, a port for connecting a device equipped with a wired / wireless headset port, an external charger port, a wired / wireless data port, a memory card port, an audio I / O port, a video I / O port, an earphone port, and the like may be included in the interface unit 160.

The identification module is a chip for storing various information for authenticating the use right of the mobile terminal 100 and includes a user identification module (UIM), a subscriber identity module (SIM) A universal subscriber identity module (USIM), and the like. Devices with identification modules (hereinafter referred to as "identification devices") can be manufactured in a smart card format. Accordingly, the identification device can be connected to the terminal 100 through the interface unit 160. [

The interface unit 160 may be a path through which power from the cradle is supplied to the mobile terminal 100 when the mobile terminal 100 is connected to an external cradle, And various command signals may be transmitted to the mobile terminal 100. The various command signals or the power source input from the cradle may be operated as a signal for recognizing that the mobile terminal 100 is correctly mounted on the cradle.

The memory 170 may store a program for the operation of the controller 180 and temporarily store input / output data (e.g., a phone book, a message, a still image, a moving picture, etc.). The memory 170 may store data related to vibration and sound of various patterns outputted when a touch is input on the touch screen.

The memory 170 may be a flash memory type, a hard disk type, a solid state disk type, an SDD type (Silicon Disk Drive type), a multimedia card micro type ), Card type memory (e.g., SD or XD memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read memory, a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, and / or an optical disk. The mobile terminal 100 may operate in association with a web storage that performs the storage function of the memory 170 on the Internet.

Meanwhile, as described above, the control unit 180 controls the operations related to the application program and the general operation of the mobile terminal 100. [ For example, when the state of the mobile terminal meets a set condition, the control unit 180 can execute or release a lock state for restricting input of a user's control command to applications.

In addition, the control unit 180 performs control and processing related to voice communication, data communication, video call, or the like, or performs pattern recognition processing to recognize handwriting input or drawing input performed on the touch screen as characters and images, respectively . Further, the controller 180 may control any one or a plurality of the above-described components in order to implement various embodiments described below on the mobile terminal 100 according to the present invention.

The power supply unit 190 receives external power and internal power under the control of the controller 180 and supplies power necessary for operation of the respective components. The power supply unit 190 includes a battery, the battery may be an internal battery configured to be chargeable, and may be detachably coupled to the terminal body for charging or the like.

In addition, the power supply unit 190 may include a connection port, and the connection port may be configured as an example of an interface 160 through which an external charger for supplying power for charging the battery is electrically connected.

As another example, the power supply unit 190 may be configured to charge the battery in a wireless manner without using the connection port. In this case, the power supply unit 190 may use at least one of an inductive coupling method based on a magnetic induction phenomenon from an external wireless power transmission apparatus and a magnetic resonance coupling method based on an electromagnetic resonance phenomenon Power can be delivered.

On the other hand, the various embodiments described below can be implemented in a recording medium readable by a computer or similar device using, for example, software, hardware, or a combination thereof.

2 is a perspective view illustrating an example of a glass-type mobile terminal 400 according to another embodiment of the present invention.

The glass-type mobile terminal 400 is configured to be worn on the head of a human body, and a frame unit (case, housing, etc.) for the mobile terminal 400 may be provided. The frame portion may be formed of a flexible material to facilitate wearing. This figure illustrates that the frame portion includes a first frame 401 and a second frame 402 of different materials. In general, the mobile terminal 400 may include features of the mobile terminal 100 of FIG. 1 or similar features.

The frame portion is supported on the head portion, and a space for mounting various components is provided. As shown in the figure, electronic parts such as the control module 480, the sound output module 452, and the like may be mounted on the frame part. Further, a lens 403 covering at least one of the left eye and the right eye may be detachably mounted on the frame portion.

The control module 480 controls various electronic components included in the mobile terminal 400. The control module 480 can be understood as a configuration corresponding to the control unit 180 described above. This figure illustrates that the control module 480 is provided in the frame portion on one side of the head. However, the position of the control module 480 is not limited thereto.

The display unit 451 may be implemented as a head mounted display (HMD). The HMD type refers to a display method that is mounted on the head and displays images directly in front of the user's eyes. When the user wears the glass-type mobile terminal 400, the display unit 451 may be arranged to correspond to at least one of the left eye and the right eye so as to provide images directly to the user's eyes. In this figure, the display unit 451 is located at a portion corresponding to the right eye so that an image can be output toward the user's right eye.

The display unit 451 can project an image to the user's eyes using a prism. Further, the prism may be formed to be transmissive so that the user can view the projected image and the general view of the front (the range that the user views through the eyes) together.

As described above, the image output through the display unit 451 may be overlapped with the general view. The mobile terminal 400 can provide an Augmented Reality (AR) in which a virtual image is superimposed on a real image or a background and displayed as a single image using the characteristics of the display.

The camera 421 is disposed adjacent to at least one of the left eye and the right eye, and is configured to photograph a forward image. Since the camera 421 is positioned adjacent to the eyes, the camera 421 can acquire a scene viewed by the user as an image.

Although the camera 421 is provided in the control module 480 in this figure, it is not limited thereto. The camera 421 may be installed in the frame portion, or may be provided in a plurality of ways to obtain a stereoscopic image.

The glass-type mobile terminal 400 may include user input units 423a and 423b operated to receive control commands. The user input units 423a and 423b can be employed in any manner as long as the user operates in a tactile manner such as a touch or a push. This figure illustrates that the frame unit and the control module 480 are provided with user input units 423a and 423b of a push and touch input method, respectively.

In addition, the glass-type mobile terminal 400 may be provided with a microphone (not shown) for receiving sound and processing the sound as electrical voice data and an acoustic output module 452 for outputting sound. The sound output module 452 may be configured to transmit sound in a general sound output mode or a bone conduction mode. When the sound output module 452 is implemented in a bone conduction manner, when the user wears the mobile terminal 400, the sound output module 452 is brought into close contact with the head and vibrates the skull to transmit sound.

Next, a communication system that can be implemented through the mobile terminal 100 according to the present invention will be described.

First, the communication system may use different wireless interfaces and / or physical layers. For example, wireless interfaces that can be used by a communication system include Frequency Division Multiple Access (FDMA), Time Division Multiple Access (TDMA), Code Division Multiple Access (CDMA) ), Universal mobile telecommunication systems (UMTS) (in particular Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A)), Global System for Mobile Communications May be included.

Hereinafter, for the sake of convenience of description, the description will be limited to CDMA. However, it is apparent that the present invention can be applied to all communication systems including an OFDM (Orthogonal Frequency Division Multiplexing) wireless communication system as well as a CDMA wireless communication system.

A CDMA wireless communication system includes at least one terminal 100, at least one base station (BS) (also referred to as a Node B or Evolved Node B), at least one Base Station Controllers (BSCs) , And a Mobile Switching Center (MSC). The MSC is configured to be coupled to a Public Switched Telephone Network (PSTN) and BSCs. The BSCs may be paired with the BS via a backhaul line. The backhaul line may be provided according to at least one of E1 / T1, ATM, IP, PPP, Frame Relay, HDSL, ADSL or xDSL. Thus, a plurality of BSCs may be included in a CDMA wireless communication system.

Each of the plurality of BSs may comprise at least one sector, and each sector may comprise an omnidirectional antenna or an antenna pointing to a particular direction of radial emission from the BS. In addition, each sector may include two or more antennas of various types. Each BS may be configured to support a plurality of frequency assignments, and a plurality of frequency assignments may each have a specific spectrum (e.g., 1.25 MHz, 5 MHz, etc.).

The intersection of sector and frequency assignment may be referred to as a CDMA channel. The BS may be referred to as a base station transceiver subsystem (BTSs). In this case, a combination of one BSC and at least one BS may be referred to as a "base station ". The base station may also indicate a "cell site ". Alternatively, each of the plurality of sectors for a particular BS may be referred to as a plurality of cell sites.

A broadcast transmission unit (BT) transmits a broadcast signal to terminals 100 operating in the system. The broadcast receiving module 111 shown in FIG. 1 is provided in the terminal 100 to receive a broadcast signal transmitted by the BT.

In addition, a Global Positioning System (GPS) may be associated with the CDMA wireless communication system to identify the location of the mobile terminal 100. The satellite 300 aids in locating the mobile terminal 100. Useful location information may be obtained by two or more satellites. Here, the position of the mobile terminal 100 can be tracked using all the techniques capable of tracking the location as well as the GPS tracking technology. Also, at least one of the GPS satellites may optionally or additionally be responsible for satellite DMB transmission.

The location information module 115 included in the mobile terminal is for detecting, computing, or identifying the location of the mobile terminal, and may include a Global Position System (GPS) module and a WiFi (Wireless Fidelity) module. Optionally, the location information module 115 may perform any of the other functions of the wireless communication unit 110 to obtain data relating to the location of the mobile terminal, in addition or alternatively.

The GPS module 115 calculates distance information and accurate time information from three or more satellites and then applies trigonometry to the calculated information to accurately calculate three-dimensional current position information according to latitude, longitude, and altitude can do. At present, a method of calculating position and time information using three satellites and correcting an error of the calculated position and time information using another satellite is widely used. In addition, the GPS module 115 can calculate speed information by continuously calculating the current position in real time. However, it is difficult to accurately measure the position of the mobile terminal by using the GPS module in the shadow area of the satellite signal as in the room. Accordingly, a WPS (WiFi Positioning System) can be utilized to compensate the positioning of the GPS system.

The WiFi Positioning System (WPS) is a system in which a mobile terminal 100 uses a WiFi module included in the mobile terminal 100 and a wireless AP (wireless access point) transmitting or receiving a wireless signal with the WiFi module, Is a technology for tracking a location of a wireless local area network (WLAN) using WiFi.

The WiFi location tracking system may include a Wi-Fi location server, a mobile terminal 100, a wireless AP connected to the mobile terminal 100, and a database in which certain wireless AP information is stored.

The mobile terminal 100 connected to the wireless AP can transmit a location information request message to the Wi-Fi location server.

The Wi-Fi position location server extracts information of the wireless AP connected to the mobile terminal 100 based on the location information request message (or signal) of the mobile terminal 100. The information of the wireless AP connected to the mobile terminal 100 may be transmitted to the Wi-Fi location server through the mobile terminal 100 or may be transmitted from the wireless AP to the Wi-Fi location server.

The information of the wireless AP to be extracted based on the location information request message of the mobile terminal 100 includes a MAC address, an SSID (Service Set IDentification), a Received Signal Strength Indicator (RSSI), a Reference Signal Received Power (RSRP) Reference Signal Received Quality), channel information, Privacy, Network Type, Signal Strength, and Noise Strength.

As described above, the Wi-Fi position location server can receive the information of the wireless AP connected to the mobile terminal 100 and extract the wireless AP information corresponding to the wireless AP to which the mobile terminal is connected from the pre-established database. In this case, the information of any wireless APs stored in the database includes at least one of MAC address, SSID, channel information, privacy, network type, radius coordinates of the wireless AP, building name, Available), the address of the AP owner, telephone number, and the like. At this time, in order to remove the wireless AP provided using the mobile AP or the illegal MAC address in the positioning process, the Wi-Fi location server may extract only a predetermined number of wireless AP information in order of RSSI.

Then, the Wi-Fi location server can extract (or analyze) the location information of the mobile terminal 100 using at least one wireless AP information extracted from the database. And compares the received information with the received wireless AP information to extract (or analyze) the location information of the mobile terminal 100.

As a method for extracting (or analyzing) the position information of the mobile terminal 100, a Cell-ID method, a fingerprint method, a triangulation method, and a landmark method can be utilized.

The Cell-ID method is a method of determining the position of the mobile station with the strongest signal strength among neighboring wireless AP information collected by the mobile terminal. Although the implementation is simple, it does not cost extra and it can acquire location information quickly, but there is a disadvantage that positioning accuracy is lowered when the installation density of the wireless AP is low.

The fingerprint method collects signal strength information by selecting a reference position in a service area, and estimates the position based on the signal strength information transmitted from the mobile terminal based on the collected information. In order to use the fingerprint method, it is necessary to previously convert the propagation characteristics into a database.

The triangulation method is a method of calculating the position of the mobile terminal based on the coordinates of at least three wireless APs and the distance between the mobile terminals. (Time of Arrival, ToA), Time Difference of Arrival (TDoA) in which a signal is transmitted, and the time difference between the wireless AP and the wireless AP, in order to measure the distance between the mobile terminal and the wireless AP. , An angle at which a signal is transmitted (Angle of Arrival, AoA), or the like.

The landmark method is a method of measuring the position of a mobile terminal using a landmark transmitter that knows the location.

Various algorithms can be utilized as a method for extracting (or analyzing) the location information of the mobile terminal.

The extracted location information of the mobile terminal 100 is transmitted to the mobile terminal 100 through the Wi-Fi location server, so that the mobile terminal 100 can acquire the location information.

The mobile terminal 100 may be connected to at least one wireless AP to obtain location information. At this time, the number of wireless APs required to acquire the location information of the mobile terminal 100 may be variously changed according to the wireless communication environment in which the mobile terminal 100 is located.

1, the mobile terminal according to the present invention may include Bluetooth (registered trademarks), Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Field Communication), and Wireless USB (Wireless Universal Serial Bus).

Among them, the NFC module provided in the mobile terminal supports the non-contact type short-range wireless communication between the terminals at a distance of about 10 cm. The NFC module may operate in either a card mode, a reader mode, or a P2P mode. In order for the NFC module to operate in the card mode, the mobile terminal 100 may further include a security module for storing card information. Here, the security module may be a physical medium such as a UICC (e.g., a SIM (Subscriber Identification Module) or a USIM (Universal SIM)), a Secure micro SD and a sticker, or a logical medium For example, embeded SE (Secure Element)). Data exchange based on SWP (Single Wire Protocol) can be made between NFC module and security module.

When the NFC module is operated in the card mode, the mobile terminal can transmit the stored card information to the outside such as a conventional IC card. Specifically, if the mobile terminal storing the card information of the payment card such as a credit card or a bus card is brought close to the fare payment machine, the mobile local payment can be processed, and the mobile terminal storing the card information of the access card can be accessed If you are close to the time, the approval process for access may begin. Cards such as credit cards, transportation cards, and access cards are mounted on the security module in the form of an applet, and the security module can store card information on the mounted card. Here, the card information of the payment card may be at least one of a card number, balance, and usage details, and the card information of the access card may include at least one of a name, a number (e.g., It can be one.

When the NFC module is operated in the reader mode, the mobile terminal can read data from an external tag. At this time, the data received from the mobile terminal by the tag may be coded into a data exchange format (NFC Data Exchange Format) defined by the NFC Forum. In addition, the NFC Forum defines four record types. Specifically, the NFC forum defines four RTDs (Record Type Definitions) such as Smart Poster, Text, Uniform Resource Identifier (URI), and General Control. If the data received from the tag is a smart poster type, the control unit executes a browser (e.g., an Internet browser), and if the data received from the tag is a text type, the control unit can execute the text viewer. When the data received from the tag is a URI type, the control unit executes the browser or makes a telephone call, and if the data received from the tag is a general control type, it can execute appropriate operations according to the control contents.

When the NFC module is operated in a peer-to-peer (P2P) mode, the mobile terminal can perform P2P communication with another mobile terminal. At this time, LLCP (Logical Link Control Protocol) may be applied to P2P communication. For P2P communication, a connection can be created between the mobile terminal and another mobile terminal. At this time, the generated connection can be divided into a connectionless mode in which one packet is exchanged and terminated, and a connection-oriented mode in which packets are exchanged consecutively. Through P2P communications, data such as business cards, contact information, digital photos, URLs in electronic form, and setup parameters for Bluetooth and Wi-Fi connectivity can be exchanged. However, since the usable distance of NFC communication is short, the P2P mode can be effectively used to exchange small-sized data.

Hereinafter, embodiments related to a method of displaying the cleaning result of the robot cleaner using the augmented reality image, which can be implemented in the mobile terminal 100 configured as above, will be described with reference to the accompanying drawings. It will be apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.

3 is a diagram for explaining a configuration of an augmented reality system according to an embodiment of the present invention.

The augmented reality system according to an exemplary embodiment of the present invention may include a mobile terminal 100, an electronic device 200, and a server 300.

The operation mode of the mobile terminal 100 may include an augmented reality mode. The augmented reality mode can be a mode in which a virtual image is superimposed on a real image and is displayed as a single image. Here, the virtual image may be related to a real image or may include information on a real image.

The mobile terminal 100 can enter the augmented reality mode according to the execution of an application installed therein. When the mobile terminal 100 enters the augmented reality mode, the mobile terminal 100 can automatically display a preview image acquired through the camera 121 on the display unit 151. [

The mobile terminal 100 can identify the electronic device 200 through the preview image and provide information on the identified electronic device 200. [

In one embodiment, the controller 180 of the mobile terminal 100 may identify the electronic device 200 using an image recognition technique. The control unit 180 of the mobile terminal 100 can identify the electronic device 200 based on the preview image of the electronic device 200 acquired through the camera 121. [

The preview image may be an image showing the image to be photographed through the camera 121 in advance. The control unit 180 acquires the external image of the electronic device 200 included in the preview image and outputs the external image of the obtained electronic device 200 to the external image of the electronic devices stored in the memory 170 of the mobile terminal 100 .

The control unit 180 can extract information on the stored electronic device when the external image of the electronic device 200 is stored in the memory 170 as a result of the comparison. The information on the electronic device may be at least one of a name of the electronic device, a model name of the electronic device, parts information provided inside the electronic device, image information of the part, and position information of the parts in the electronic device.

If the external image of the obtained electronic device 200 is not stored in the memory 170 as a result of the comparison, the control unit 180 controls the server 300 including the database of the electronic device through the wireless Internet module 113 Can be connected. The server 300 can identify the electronic device 200 by comparing the external image of the electronic device 200 with the external images of the stored electronic devices from the database.

The control unit 180 may receive information on the electronic device 200 identified by the server 300. [

In another embodiment, the control unit 180 can identify the electronic device 200 based on the identifier attached to the electronic device 200. [ The identifier may be any one of a bar code, a QR code, and an RFID, and may include information for identifying the electronic device 200.

The control unit 180 may identify the electronic device 200 by recognizing the identifier included in the preview image acquired through the camera 121. [

In another embodiment, the control unit 180 can identify the electronic device 200 based on the location information of the mobile terminal 100. [ Specifically, the controller 180 can identify the electronic device 200 displayed on the preview image by comparing the location information of the mobile terminal 100 with the location information of the electronic device 200.

Although it is preferable to use GPS information as location information, it may be difficult to acquire GPS information in a room. Accordingly, the controller 180 may utilize a Wifi (Wifi Position Service) method using a wireless Internet, a method using Bluetooth, and a method using RFID.

The local area communication module 114 of the mobile terminal 100 can perform short-range wireless communication with the electronic device 200. [ To this end, the electronic device 200 may also include a short-range communication module.

The electronic device 200 may be any one of an air conditioner, a refrigerator, a washing machine, a TV, an electronic oven, a vacuum cleaner, and an airport robot used in an airport. However, the present invention is not limited thereto, and the electronic device 200 may include all kinds of devices that enhance the convenience of the user.

The server 300 can exchange information with the mobile terminal 100 via the Internet.

In some cases, the server 300 may be connected to the electronic device 200 through wireless communication. In this case, the electronic device 200 may also be provided with a wireless Internet module.

Meanwhile, the electronic device 200 may be a robot cleaner 10. In this case, the augmented reality system according to an embodiment of the present invention includes a robot cleaner 10 that performs cleaning while running automatically, and an augmented reality image And a mobile terminal 100 that displays the mobile terminal 100 as shown in FIG.

Hereinafter, the configuration of the robot cleaner 10 will be described first.

4A to 4C are views for explaining a configuration of a robot cleaner according to an embodiment of the present invention.

4A is a perspective view showing the robot cleaner 10, FIG. 4B is a perspective view showing the internal structure of the robot cleaner 10, and FIG. 4C is a bottom perspective view of the robot cleaner 10.

A robot cleaner 10 according to an embodiment of the present invention includes a main body 11, a suction device 12, a suction nozzle 13, a dust collecting device 14, a driving wheel 15a, a motor 15b, And a wheel 15c.

The main body 11 forms the appearance of the robot cleaner 10. [

The main body 11 may be a cylindrical shape having a relatively small height as compared with a diameter, that is, a flat cylindrical shape. In this case, the main body 11 may be provided with a suction device 12, a suction nozzle 13, and a dust collecting device 14 communicating with the suction nozzle 13.

The suction device 12 generates an air suction force.

At the rear of the suction device 12, a dust collecting device 14 may be disposed. In this case, the suction device 12 is slanted between the battery 560 and the dust collecting device 14 to be described later, and is connected to a motor (not shown) electrically connected to the battery 560 and a motor And a fan (not shown) to force the flow.

The suction nozzle (13) sucks the dust on the floor by driving the suction device (12).

Specifically, the suction nozzle 13 is exposed to the lower side of the main body 11 through an opening (not shown) formed in the bottom of the main body 11, thereby contacting the bottom of the room. In this case, the suction nozzle 13 can suck foreign substances on the bottom together with the air.

The dust collecting device 14 collects foreign matter in the air sucked by the suction nozzle 13. For this purpose, a suction nozzle 13 is provided below the dust collecting device 14.

Meanwhile, a dust sensor (not shown) may be provided inside the main body 11 to detect dust that has been sucked. A dust sensor (not shown) will be described later with reference to FIG.

A sensor (not shown) for sensing the distance from the wall or obstacle in the interior of the main body 11, a bumper (not shown) for buffering the impact at the time of collision, a driving wheel 15a for moving the robot cleaner 10, May be provided.

The driving wheel 15a may be installed at a lower portion of the main body 11. [ Specifically, the driving wheels 15a may be provided on both lower sides, that is, on the left side and the right side, respectively.

The drive wheels 15a are each configured to be rotated by a motor 15b controlled by a control unit 570. [ To this end, the motor 15b may be provided at both the lower sides, i.e., the left side and the right side, corresponding to the driving wheels 15a. In this case, the motors 15b respectively provided on the left and right sides can operate independently. Therefore, the robot cleaner 10 is capable of not only forward and backward but also leftward or rightward rotation. Thus, the robot cleaner 10 can perform the indoor cleaning while changing the direction of the motor itself according to the driving of the motor 15b.

At least one auxiliary wheel 15c may be provided on the bottom of the main body 11. [ The auxiliary wheel 15c can guide the movement of the robot cleaner 10 while minimizing the friction between the robot cleaner 10 and the floor.

Meanwhile, a dust sensor (not shown) may be provided inside the main body 11 to detect dust that has been sucked. A dust sensor (not shown) will be described later with reference to FIG.

5 is a block diagram illustrating a configuration of a robot cleaner according to an embodiment of the present invention.

The robot cleaner 10 according to an embodiment of the present invention includes a communication unit 510, a camera 520, an input unit 530, a display unit 540, a storage unit 550, a battery 560, Unit 570, as shown in FIG.

The communication unit 510 may perform communication with the mobile terminal 100. Accordingly, the robot cleaner 10 can be controlled by the mobile terminal 100 or can transmit and receive data and / or control commands to / from the mobile terminal 100.

Communication performed by the communication unit 510 and the mobile terminal 100 may include various types of wired and wireless communication such as low-power Bluetooth communication, Bluetooth communication, RFID communication, infrared communication, wireless LAN communication, and wireless Internet communication. To this end, the communication unit 510 may include a communication module that enables such wired / wireless communication.

The camera 520 generates image information for a predetermined area. Here, the predetermined region may include a peripheral region of the robot cleaner 10 and the robot cleaner 10. The camera 520 photographs the peripheral area of the robot cleaner 10 and the robot cleaner 10, and can generate a still image or a moving image based thereon.

According to an embodiment, a plurality of cameras 520 may be provided in the robot cleaner 10 to obtain image information of various areas. In this case, at least one of the plurality of cameras 520 may be provided on the upper side of the robot cleaner 10, and at least one of the cameras 520 may be provided on the side edge of the robot cleaner 10.

The input unit 530 may receive commands related to the operation or control of the robot cleaner 100. [

To this end, the input unit 530 may include a plurality of buttons configured in the form of a push key or a touch key. The plurality of buttons include an OK button for confirming the operation related to the operation of the robot cleaner 10, a setting button for setting an item related to the operation of the robot cleaner 10, a delete button for deleting input or set items, A start button for instructing to stop the cleaning, and a stop button for instructing to stop the cleaning.

Here, the command related to the operation or control of the robot cleaner 10 may be a command for cleaning reservation, cleaning start, and cleaning end. Alternatively, it may be a command related to the setting of the cleaning pattern (or the traveling pattern) of the robot cleaner 10. Here, the cleaning pattern may include a zigzag pattern, a random pattern, a cell unit pattern (a method of moving to the next cell after completion of cleaning of a specific cell to perform cleaning), a user setting pattern, and the like.

The display unit 540 may display information related to the operation of the robot cleaner 10.

More specifically, the display unit 540 displays operation information of the robot cleaner 10, image information acquired by the camera 520, cleaning map information on the cleaning area, time information on the robot cleaner 10, and the like have. Here, the cleaning area may include a cleaning subject area, a non-cleaning area, a cleaning completion area, and a cleaning incomplete area. Hereinafter, in the present invention, the cleaning target area is defined as an area corresponding to a cleaning object, and the area not subjected to cleaning is defined as an area excluding cleaning object. The cleaning completion area is defined as an area where cleaning has already been performed and the cleaning incomplete area is defined as a cleaning area that has not yet been cleaned.

The display unit 540 can display the time information of the robot cleaner 10. In this case, the time information of the robot cleaner 10 may include at least one of cleaning start time, cleaning end time, cleaning required time, remaining time, estimated time, and current time.

The storage unit 550 may store data.

Specifically, in the storage unit 550, a cleaning target area, a non-cleaning target area, a cleaning completion area, and a cleaning incomplete area may be separately stored in association with the cleaning process. In this case, the data on the cleaning target area, the non-cleaning target area, the cleaning completion area, and the cleaning noncomplete area may be periodically updated in correspondence with the operation of the robot cleaner 10.

The battery 560 can supply power to the robot cleaner 10 and the constituent elements thereof. The battery 560 may be an internal battery or an exchangeable form. In this case, the battery 560 is chargeable and can be detachably coupled to the main body 11 for charging or the like.

When the robot cleaner 10 is connected to the docking station, the battery 560 can be charged with electric power from the docking station. According to one embodiment, when the cleaning operation is completed, the robot cleaner 10 may switch to the docking mode and automatically move to the docking station and be connected.

The control unit 570 may be connected to various components included in the robot cleaner 10 to control the overall operation of the robot cleaner 10. The control unit 570 may be disposed at a predetermined position inside the main body 11. [

According to one embodiment, the control unit 570 can map the actual space in which the robot cleaner 10 is located and the virtual space displayed on the screen of the mobile terminal 100. To this end, the control unit 570 may map the two-dimensional coordinates on the actual space and the three-dimensional coordinates on the virtual space.

Generally, the robot cleaner 10 travels in the planar direction and does not travel in the vertical direction. Accordingly, the coordinates on the actual space of the robot cleaner 10 can be expressed by two-dimensional coordinates (x, y).

On the other hand, the virtual space displayed on the screen of the mobile terminal 100 is a three-dimensional space. Therefore, the coordinates on the virtual space of the robot cleaner 10 can be represented by three-dimensional coordinates (X, Y, Z).

In this case, the control unit 570 can map the coordinates on the actual space of the robot cleaner 10 to the coordinates on the virtual space. Accordingly, an actual region where the robot cleaner 10 is located and a virtual region displayed on the screen of the mobile terminal 100 can be mapped.

The control unit 570 can generate position information on the actual space of the robot cleaner 10 using the image information photographed by the camera 520. [ In addition, the robot cleaner 10 can acquire image information displayed on the screen of the mobile terminal 100 from the mobile terminal 100. In this case, the robot cleaner 10 detects the actual cleaning area and the three-dimensional area appearing on the screen of the mobile terminal 100, based on the location information, the clean running information, and the image information displayed on the screen of the mobile terminal 100 Can be mapped.

According to the embodiment, mapping between the actual space and the virtual space may be performed by the mobile terminal 100 instead of the robot cleaner 10.

The robot cleaner 10 according to an embodiment of the present invention may further include an audio output unit (not shown). The voice output unit (not shown) can output the operation information of the robot cleaner 10 by voice. Further, the audio output unit (not shown) can output the information received from the outside by voice. For example, when control information or text information is received from the mobile terminal 100 by the robot cleaner 10, the robot cleaner 10 may convert control information or text information into voice and output the voice. According to one embodiment, the audio output unit (not shown) may be a speaker.

6 is a view for explaining the operation of the dust sensor included in the robot cleaner according to the embodiment of the present invention.

The dust sensor 600 can sense the dust being sucked.

Specifically, the dust sensor 600 detects dust sucked into a suction pipe (not shown) and outputs a corresponding detection signal. In this case, the control unit 570 connected to the dust sensor 600 can determine the amount of dust to be sucked on the basis of the output sensed signal.

6, when dust is sucked into a region between a light emitting diode (LED) that emits light in the dust sensor 600 and a phototransistor PT that receives the irradiated light, The amount of light received by the phototransistor PT varies. In this case, the control unit 570 can compare the predetermined signal corresponding to the variable light amount with the reference value, and determine the amount of dust based on the comparison result.

7 is a flowchart illustrating an operation of the robot cleaner according to an embodiment of the present invention.

The robot cleaner 10 starts clean running (S701).

In this case, the robot cleaner 10 can start the cleaning run according to the set cleaning pattern. Here, the cleaning pattern may be at least one such as a zigzag pattern, a random pattern, a cell unit pattern (a method of moving to a next cell after completion of cleaning of a specific cell to perform cleaning), and a user setting pattern.

The robot cleaner 10 photographs the cleaning area (S702).

Here, the cleaning area of the robot cleaner 10 may include a peripheral area of the robot cleaner 10 and / or the robot cleaner 10. Thus, the robot cleaner 10 can acquire images for the cleaning area.

The robot cleaner 10 can determine the amount of dust in each cleaning area (S703).

The cleaning area may include a plurality of areas. In this case, the amount of dust detected in each of the plurality of areas may be different for each area. Accordingly, the robot cleaner 10 can determine the amount of dust in each cleaning area. In this case, the robot cleaner 10 can divide the cleaning area into a plurality of areas, and detect dust amounts by the divided areas.

The robot cleaner 10 can set a cleaning traveling route or modify a set cleaning traveling route based on the amount of dust per cleaning area. For example, in a dusty cleaning area, the traveling pattern of the robot cleaner 10 can be densely arranged so that the robot cleaner 10 can travel in more areas.

The robot cleaner 10 starts the augmented reality mode (S704).

According to an embodiment, when the actual image is included in the screen of the camera built in the robot cleaner 10, the robot cleaner 10 can execute the augmented reality mode.

In this case, the image displayed by the camera includes an actual image, which becomes an image or background of reality, in which the augmented reality images are superimposed and displayed.

The robot cleaner 10 generates an augmented reality image for the amount of dust (S705).

The augmented reality means that a virtual image is superimposed on a real image and displayed as a single image. Specifically, the augmented reality may mean that a virtual image artificially generated by a computer is displayed in an enhanced image of the physical reality world. In the present invention, a virtual image included in an augmented reality is defined as an augmented reality image.

The augmented reality image may include information about an object existing in the real world. Here, the object may include all kinds of objects constituting the real world such as electronic devices, components or parts, objects, goods, buildings, and subjects such as animals and plants, people, and the like.

Such an augmented reality image can be displayed in various shapes or colors according to the characteristics of an object to be displayed.

The augmented reality image for the robot cleaner 10 may include a dust amount, a cleaning travel route, a predicted cleaning route, a component of the robot cleaner 10, an operation or function, a state, and the like. Hereinafter, in the present invention, the augmented reality image with respect to the amount of dust is also referred to as virtual dust. The robot cleaner 10 can generate an augmented reality image based on the amount of dust recognized by the dust sensor 600 to generate virtual dust.

According to one embodiment, the robot cleaner 10 can change at least one of the color and the size of the virtual dust in accordance with the amount of dust. For example, the larger the amount of dust detected in a predetermined area, the larger the virtual dust, and the smaller the detected dust amount, the smaller the virtual dust can be displayed. Also, the larger the amount of dust detected in a predetermined area, the darker the color of the virtual dust is, and the smaller the detected dust amount, the brighter the virtual dust can be displayed.

In this case, the user can judge that the larger the size of the virtual dust, the larger the amount of dust detected at the relevant portion. Further, as the size of the virtual dust becomes darker, it can be judged that a large amount of dust has been detected at the relevant portion.

The robot cleaner 10 can display an augmented reality image for the amount of dust overlaid on the image for the cleaning area (S706).

Specifically, the robot cleaner 10 can superimpose the augmented reality image on the image of the real area illuminated by the built-in camera. For example, the robot cleaner 10 may superimpose and display an image of the augmented reality on the amount of dust sucked in the area on the image including the area subjected to the cleaning.

In this case, the mobile terminal 100 can display the augmented reality image separately from the real image. For example, the mobile terminal 100 may display an augmented reality image as a stereoscopic image or a hologram image, or may display a moving image including an animation or a moving image.

In addition to the augmented reality image, the mobile terminal 100 may display information on the augmented reality image in text form.

8A to 8C are views for explaining an example of displaying a cleaning result as an augmented reality image by a robot cleaner according to an embodiment of the present invention.

The robot cleaner 10 can display the cleaning result as an augmented reality image. Here, the cleaning result may be related to the amount of dust sucked, the cleaning travel route, the cleaning area, and the like.

When the robot cleaner 10 is in a cleaning running state, the user can not know the cleaning state of the cleaning area in which cleaning is currently being performed. However, only the state after cleaning is completed can be confirmed. Accordingly, the user can not confirm the cleaning result of the robot cleaner 10 currently in operation.

However, in setting the traveling pattern of the robot cleaner 10, the user needs to check the cleaning result of the robot cleaner 10. Therefore, in the present embodiment, the robot cleaner 10 can display the cleaning result as an augmented reality image.

The augmented reality image of the cleaning result can be displayed on the display unit 540 of the robot cleaner 10. For this, the robot cleaner 10 may display a message asking whether to display the cleaning result as an augmented reality image when the image of the actual area is included in the screen by the built-in camera. Such a message may be displayed on the display unit 540. [

Referring to FIG. 8A, the display unit 540 of the robot cleaner 10 displays a text message asking whether to display the cleaning result as an augmented reality image.

8B shows an example of displaying a virtual dust on a cleaning map.

The robot cleaner 10 can display virtual dust on the cleaning map created at the time of cleaning running. In this case, the size of the virtual dust can be changed corresponding to the amount of dust. Specifically, the larger the amount of dust sucked by the robot cleaner 10, the larger the size of the virtual dust. The smaller the amount of dust sucked by the robot cleaner 10, the smaller the size of the virtual dust. From this, the user can easily know the cleaning result of the robot cleaner 10 and the degree of contamination by the cleaning area based on the size of the virtual dust.

Referring to FIG. 8B, virtual dust particles of the same color are displayed on the cleaning map. In this case, the size of the virtual dust is proportional to the dust amount. Therefore, the user can intuitively confirm the cleaning result for each cleaning area from the size of the virtual dust.

8C is another example of displaying the virtual dust on the cleaning map.

The robot cleaner 10 can display virtual dust on the cleaning map created at the time of cleaning running. In this case, the virtual dust can be changed in color and size corresponding to the amount of dust. Specifically, the more the dust absorbed by the robot cleaner 10 is, the darker the color of the virtual dust and the larger the size of the virtual dust. The color of the virtual dust becomes brighter and the size of the virtual dust becomes smaller as the dust amount sucked in by the robot cleaner 10 is smaller. From this, the user can easily know the cleaning result of the robot cleaner 10 and the degree of contamination by the cleaning area based on the color and size of the virtual dust.

Referring to FIG. 8C, virtual dust particles having different colors and sizes are displayed on the cleaning map. In this case, the size of the virtual dust is proportional to the dust amount. In addition, the color of the virtual dust is proportional to the amount of dust. From this, the user can intuitively confirm the cleaning result for each cleaning area from the color and size of the virtual dust.

9A to 9C are views for explaining another example in which a robot cleaner according to an embodiment of the present invention displays a cleaning result as an augmented reality image.

The robot cleaner 10 can display the cleaning result as an augmented reality image. Here, the cleaning result may be related to the amount of dust sucked, the cleaning travel route, the cleaning area, and the like.

The augmented reality image of the cleaning result can be displayed on the display unit 540 of the robot cleaner 10. For this, the robot cleaner 10 may display a message asking whether to display the cleaning result as an augmented reality image when the image of the actual area is included in the screen by the built-in camera. Such a message may be displayed on the display unit 540. [

Referring to FIG. 9A, a text message is displayed on the display unit 540 of the robot cleaner 10, asking whether to display the cleaning result as an augmented reality image.

9B is an example of displaying a virtual dust on an image of a cleaning area.

The robot cleaner 10 can display a virtual dust on the image of the cleaning area photographed during cleaning running. In this case, the virtual dust may be displayed in the shape of at least one of a stereoscopic image, a hologram, and a moving image so as to be distinguishable from an image for a cleaning area, which is an actual image.

In this case, the size of the virtual dust can be changed corresponding to the amount of dust. Specifically, the larger the amount of dust sucked by the robot cleaner 10, the larger the size of the virtual dust. The smaller the amount of dust sucked by the robot cleaner 10, the smaller the size of the virtual dust.

Referring to FIG. 9B, virtual dust particles of the same color are displayed on the image for the cleaning area. In this case, the size of the virtual dust is proportional to the dust amount. From the size of the virtual dust, the user can intuitively check the cleaning result for the cleaning area.

9C is another example of displaying a virtual dust on an image for a cleaning area.

The robot cleaner 10 can display a virtual dust on the image of the cleaning area photographed during cleaning running. In this case, the virtual dust can be changed in color and size corresponding to the amount of dust. Specifically, the more the dust absorbed by the robot cleaner 10 is, the darker the color of the virtual dust and the larger the size of the virtual dust. The color of the virtual dust becomes brighter and the size of the virtual dust becomes smaller as the dust amount sucked in by the robot cleaner 10 is smaller.

Referring to FIG. 9C, virtual dust particles having different colors and sizes are displayed on the image for the cleaning area. In this case, the size of the virtual dust is proportional to the dust amount. In addition, the color of the virtual dust is proportional to the amount of dust.

10 is a flowchart illustrating an operation of the mobile terminal according to an embodiment of the present invention.

According to the present embodiment, the mobile terminal 100 executes the augmented reality mode and can display the augmented reality image for the amount of dust on the image of the cleaning area displayed on the screen by the camera built in the mobile terminal 100 .

The robot cleaner 10 starts cleaning running (S1001).

In this case, the robot cleaner 10 can start the cleaning run according to the set cleaning pattern. Here, the cleaning pattern may be at least one such as a zigzag pattern, a random pattern, a cell unit pattern (a method of moving to a next cell after completion of cleaning of a specific cell to perform cleaning), and a user setting pattern.

The robot cleaner 10 photographs the cleaning area (S1002).

Here, the cleaning area of the robot cleaner 10 may include a peripheral area of the robot cleaner 10 and / or the robot cleaner 10. Thus, the robot cleaner 10 can acquire images for the cleaning area.

The robot cleaner 10 can determine the amount of dust in each cleaning area (S1003).

The cleaning area may include a plurality of areas. In this case, the amount of dust detected in each of the plurality of areas may be different for each area. Accordingly, the robot cleaner 10 can determine the amount of dust in each cleaning area.

Based on the amount of dust per cleaning area, the robot cleaner 10 can set a cleaning traveling route or modify a set cleaning traveling route. For example, in a dusty cleaning area, the traveling pattern of the robot cleaner 10 is densely arranged so that the robot cleaner 10 can travel more times per area.

The mobile terminal 100 illuminates the cleaning area (S1004).

Specifically, the mobile terminal 100 can display a cleaning area on the screen by a built-in camera. In this case, the mobile terminal 100 can start the augmented reality mode.

The image displayed by the camera includes a cleaning area, which is an actual image, and this image becomes an image or a background of reality, in which the augmented reality images are superimposed and displayed.

The mobile terminal 100 receives information on the dust amount per cleaning area from the robot cleaner 10 (S1005).

To this end, the mobile terminal 100 requests the robot cleaner 10 for data on dust amount per cleaning area, and receives data on the amount of dust per cleaning area from the robot cleaner 10 in response thereto.

The mobile terminal 100 generates an augmented reality image for the dust amount based on the data on the dust amount for each cleaning area (S1006).

Here, the augmented reality image with respect to the dust amount may be virtual dust. In this case, the mobile terminal 100 may display at least one of the size and the hue of the virtual dust differently according to the dust amount. For example, the mobile terminal 100 may display the size of the virtual dust larger or display the color of the virtual dust darker as the amount of dust detected in the corresponding region increases.

The mobile terminal 100 maps the cleaning area of the robot cleaner 10 and the virtual cleaning area included in the image photographed by the mobile terminal 100 (S1007).

Data on dust amount per cleaning area is measured by the robot cleaner 10. In this case, the robot cleaner 10 determines the position of the dust based on the coordinates on the actual space where the robot cleaner 10 is located. Accordingly, the mobile terminal 100 must map the position of the dust in the actual space and the position of the dust in the virtual space in order to display the augmented reality image with respect to the dust at the correct position.

The mobile terminal 100 may display an augmented reality image for the amount of dust over the area of the image for the cleaning area (S1108).

According to this embodiment, the cleaning result of the corresponding cleaning area can be confirmed by the augmented reality image by comparing the cleaning area with the camera of the mobile terminal. When the cleaning result is displayed on the screen of the mobile terminal 100, there is no restriction on the screen size as compared with the screen of the robot cleaner. Furthermore, when the result of the cleaning is displayed as an augmented reality image and displayed on the actual image in a superimposed manner, the recognition rate is increased.

11A and 11B are views for explaining a case where a mobile terminal executes an augmented reality mode according to an embodiment of the present invention.

The mobile terminal according to the embodiment of the present invention can execute the augmented reality mode when the robot cleaner 10 connected to the docking station is included in the screen 1110 captured by the mobile terminal 100. [ The activated augmented reality mode can be maintained even if the robot cleaner 10 is not displayed on the screen of the mobile terminal 100 thereafter.

When the augmented reality mode is started, the mobile terminal 100 may display a message asking whether to display the augmented reality image on the screen.

Referring to FIG. 11A, a robot cleaner 10 connected to a docking station is included on a screen 1110 captured by a camera 121 built in a mobile terminal 100. In this case, the robot cleaner 10 is paired with the mobile terminal 100. Accordingly, the mobile terminal 100 recognizes the connectable robot cleaner 10 and starts the augmented reality mode.

Referring to FIG. 11B, a message 1120 displayed on the screen of the mobile terminal 100 when the augmented reality mode is activated is shown. Referring to FIG. 11B, a message 1120 is displayed on the screen of the mobile terminal 100 to inquire whether to confirm the cleaning result of the robot cleaner 10 as an augmented reality image.

12A to 12C are views for explaining an example in which a mobile terminal displays a cleaning result as an augmented reality image according to an embodiment of the present invention.

The mobile terminal 100 may display the cleaning result as an augmented reality image. Here, the cleaning result may be related to the amount of dust sucked, the cleaning travel route, the cleaning area, and the like.

When the image of the cleaning area is included in the screen by the built-in camera, the mobile terminal 100 can execute the augmented reality mode. In this case, the mobile terminal 100 can generate an augmented reality image for the cleaning result and display it on the screen.

According to one embodiment, the cleaning result may be for dust. However, the present invention is not limited thereto, and the cleaning result may be for various factors as long as the degree of cleaning performance can be measured.

The mobile terminal 100 may display at least one of the size and the hue of the virtual dust differently according to the dust amount. For example, the mobile terminal 100 may display the size of the virtual dust larger or display the color of the virtual dust darker as the amount of dust detected in the corresponding region increases.

Referring to FIG. 12A, the screen of the mobile terminal 100 includes a cleaning area. Thereby, the mobile terminal 100 executes the augmented reality mode.

12B is an example of displaying a virtual dust on an image of a cleaning area.

The mobile terminal 100 can display virtual dust on the image of the cleaning area displayed on the screen. In this case, the size of the virtual dust can be changed corresponding to the amount of dust. Specifically, the larger the amount of dust sucked by the robot cleaner 10, the larger the size of the virtual dust. On the other hand, the smaller the amount of dust sucked by the robot cleaner 10, the smaller the size of the virtual dust. From this, the user can easily know the degree of contamination of the cleaning area based on the size of the virtual dust displayed on the actual image.

Referring to FIG. 12B, virtual dust particles of the same color are displayed on the image for the cleaning area. In this case, the size of the virtual dust is proportional to the dust amount. The user can intuitively check the cleaning result for the cleaning area by virtue of the virtual dust.

12C is another example of displaying virtual dust on the image of the cleaning area.

The mobile terminal 100 can display virtual dust on the image of the cleaning area displayed on the screen. In this case, the virtual dust can be changed in color and size corresponding to the amount of dust. Specifically, the more the dust absorbed by the robot cleaner 10 is, the darker the color of the virtual dust and the larger the size of the virtual dust. The color of the virtual dust becomes brighter and the size of the virtual dust becomes smaller as the dust amount sucked in by the robot cleaner 10 is smaller.

Thus, the user can easily know the contamination level of the cleaning area and the cleaning result based on the cleaning result of the robot cleaner 10.

Referring to FIG. 12C, virtual dust particles having different colors and sizes are displayed on the image for the cleaning area. In this case, the size of the virtual dust is proportional to the dust amount. In addition, the color of the virtual dust is proportional to the amount of dust. From this, the user can intuitively confirm the cleaning result for the cleaning area based on the virtual dust.

On the other hand, in the present embodiment, a description has been given of a case where virtual dust is displayed as an augmented reality image with respect to a cleaning result. However, the present invention is not limited to this, and in connection with the cleaning result, the robot cleaner 10 may display the cleaning result for virtual garbage or foreign matter instead of the virtual dust as an augmented reality image.

Further, the robot cleaner 10 may display a cleaning travel route together with virtual dust. That is, the cleaning traveling route may be displayed, and the amount of the virtual dust sucked in each cleaning area included in the cleaning traveling route may be displayed. Accordingly, the user can intuitively grasp the cleaning result and the degree of contamination of each area while moving around the cleaning area with the robot cleaner or the mobile terminal.

The present invention described above can be embodied as computer-readable codes on a medium on which a program is recorded. The computer readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of the computer readable medium include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, , And may also be implemented in the form of a carrier wave (e.g., transmission over the Internet). Also, the computer may include a control unit 180 of the terminal.

Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

10: Robot cleaner 100: Mobile terminal
110: wireless communication unit 120: input unit
140: sensing unit 150: output unit
160: interface unit 170: memory
180: control unit 190: power supply unit
510: communication unit 520: camera
530: Input unit 540: Display unit
550 storage unit 560 battery
570: control unit

Claims (21)

In the robot cleaner,
camera;
A display unit for displaying an image of a cleaning area viewed by the camera;
And a control unit for detecting the cleaning result of the robot cleaner and generating an augmented reality image for the cleaning result on the basis of the cleaning result and displaying the augmented reality image over the image for the cleaning area. The method according to claim 1,
Wherein the robot cleaner further comprises a dust sensor for detecting dust sucked by the robot cleaner. 3. The method of claim 2,
Wherein the augmented reality image with respect to the cleaning result is a virtual dust indicating the dust sucked by the robot cleaner. The method of claim 3,
Wherein the control unit changes at least one of a size and a color of the virtual dust in accordance with an amount of dust sucked by the robot cleaner. 5. The method of claim 4,
Wherein the control unit displays a larger size of the virtual dust as the amount of dust sucked by the robot cleaner increases. 5. The method of claim 4,
Wherein the control unit displays a dark color of the virtual dust as the amount of dust sucked by the robot cleaner increases. The method of claim 3,
Wherein the control unit creates a cleaning map based on a cleaning traveling route of the robot cleaner and displays the virtual dust on the cleaning map. In an augmented reality system,
A display unit for displaying an image of a cleaning area viewed by the camera; a display unit for detecting a cleaning result of the robot cleaner, generating an augmented reality image for the cleaning result based on the cleaning result, A robot cleaner including a control unit for superimposing and displaying; And
And a mobile terminal for receiving a cleaning map created by the robot cleaner and an augmented reality image for the cleaning result from the robot cleaner and displaying the overlay on the screen. 9. The method of claim 8,
Wherein the robot cleaner further comprises a dust sensor for detecting dust sucked by the robot cleaner. 10. The method of claim 9,
Wherein the augmented reality image with respect to the cleaning result is a virtual dust indicating the dust sucked by the robot cleaner. 11. The method of claim 10,
Wherein the control unit changes at least one of a size and a hue of the virtual dust in accordance with an amount of dust sucked by the robot cleaner. 12. The method of claim 11,
Wherein the control unit displays a larger size of the virtual dust as the amount of dust sucked by the robot cleaner increases. 12. The method of claim 11,
Wherein the control unit displays a dark color of the virtual dust as the amount of dust sucked by the robot cleaner increases. 11. The method of claim 10,
Wherein the control unit creates a cleaning map based on a cleaning traveling route of the robot cleaner and displays the virtual dust on the cleaning map. 1. A recording medium on which a computer readable program for performing a method of operating a robot cleaner is recorded,
The method for operating the robot cleaner includes:
Displaying an image for a cleaning area illuminated by a built-in camera;
Detecting a cleaning result of the robot cleaner;
Generating an augmented reality image for the cleaning result based on the cleaning result; And
And displaying an augmented reality image of the generated cleaning result on the image for the cleaning area. 16. The method of claim 15,
Further comprising the step of detecting dust that has been sucked by the robot cleaner. 17. The method of claim 16,
Wherein the augmented reality image with respect to the cleaning result is a virtual dust indicating the dust sucked by the robot cleaner. 18. The method of claim 17,
Wherein the robot cleaner changes at least one of a size and a hue of the virtual dust in accordance with an amount of dust sucked by the robot cleaner. 19. The method of claim 18,
Wherein the robot cleaner displays a larger magnitude of the virtual dust as the amount of dust sucked by the robot cleaner increases. 19. The method of claim 18,
Wherein the robot cleaner displays a dark color of the virtual dust as the amount of dust sucked by the robot cleaner increases. 18. The method of claim 17,
A computer-readable program for creating a cleaning map based on a cleaning traveling route of the robot cleaner and displaying the virtual dust on the cleaning map.

Images